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The integrated longitudinal and lateral dynamic motion control is important for four wheel independent drive (4WID) electric vehicles. Under critical driving conditions, direct yaw moment control (DYC) has been proved as effective for vehicle handling stability and maneuverability by implementing optimized torque distribution of each wheel, especially with independent wheel drive electric vehicles. The intended vehicle path upon driver steering input is heavily depending on the instantaneous vehicle speed, body side slip and yaw rate of a vehicle, which can directly affect the steering effort of driver. In this paper, we propose a dynamic curvature controller (DCC) by applying a newly-defined parameter, the dynamic curvature of the path, derived from vehicle dynamic state variables; yaw rate, side slip angle, and speed of a vehicle. The proposed controller, combined with DYC and wheel longitudinal slip control, is to utilize the dynamic curvature as a target control parameter for a feedback, avoiding estimating the vehicle side-slip angle. The effectiveness of the proposed controller, in view of stability and improved handling, has been validated with numerical simulations and a series of experiments during cornering engaging a disturbance torque driven by two rear independent in-wheel motors of a 4WD micro electric vehicle.

Lateral Handling Improvement with Dynamic Curvature Control for an Independent Rear Wheel Drive EV